Politecnico di Torino - Corso Duca degli Abruzzi, 24 - 10129 Torino, ITALY

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3-URU;Industrial robots;TPM;Translational parallel mechanism;


The invention consists of a parallel translation mechanism to create industrial robots intended for the movement and positioning of objects in space by means of a gripping element, as well as the technical sector relating to measuring machines, haptic devices, joystics and 3D printers.

Technical features

The invention refers to a particular translation parallel mechanism (TPM), not overconstrained, with all the actuators on the frame. TPMs are used alone and/or together with other mechanisms to manufacture industrial robots (or other devices/machines of commercial interest) both with 3 degrees of freedom, for generating spatial translations, and with 4 degrees of freedom, for generating 3T1R motions of SCARA type (pick-and-place on a work surface and/or assembly). The mechanism consists of two rigid bodies, one mobile (platform) and the other fixed (base or frame) connected in parallel via 3 kinematic chains (legs) of URU type. This translational 3-URU architecture is different from the other 3-URUs, since it has the actuators on the base even though the actuated joints are not on the base, and it has a particular geometry. This allows a substantial reduction of the mobile masses, thus promising good dynamic performances, and makes the remaining part of the limbs simple kinematic chains containing only passive revolute pairs.

Possible Applications

  • High performance industrial pick-and-place manipulators;
  • CNC machine tools;
  • Measuring machines;
  • 3D printers;
  • Balanced platforms for the placement of objects.


  • Higher performances with lower construction complexity;
  • Optimal load redistribution among the legs and a further reduction of the mobile masses;
  • Non-overconstrained architecture;
  • Lower manufacturing and assembly costs.